CN103181263A - Multi-machine collaborated wheat harvest system - Google Patents
Multi-machine collaborated wheat harvest system Download PDFInfo
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- CN103181263A CN103181263A CN2013100772816A CN201310077281A CN103181263A CN 103181263 A CN103181263 A CN 103181263A CN 2013100772816 A CN2013100772816 A CN 2013100772816A CN 201310077281 A CN201310077281 A CN 201310077281A CN 103181263 A CN103181263 A CN 103181263A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
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Abstract
The invention relates to a multi-machine collaborated wheat harvest system. The system comprises one piloting wheat harvester, a plurality of following wheat harvesters, a plurality of wheat transport carts, one maintenance truck and a wireless communication system. The multi-machine collaborated wheat harvest system uses one manually-driving harvester for piloting, and the plurality of automatically-driving harvesters follow to harvest wheat; and the wheat transport carts are adopted to be matched with the harvesters for operation, so as to automatically load, transport and unload harvested wheat. The multi-machine collaborated wheat harvest system has the advantages that the multiple machines are driven by one person, so that labor cost is saved; complex design for a single large-scale wheat harvester is avoided; collaboration of multiple machines enables the harvest efficiency to be improved exponentially, and great significance is realized for rush-harvesting in the farming season; and the harvesters and the transport carts are matched for operation, which further reduces labor intensity of people, and has certain practical value.
Description
Technical field
The present invention relates to a grow wheat cropping system, particularly relate to a kind of wheat cropping system of multimachine device cooperation.
Background technology
The combined wheat harvester of China is started in late 1960s, the beginning of the seventies, develop slowlyer always, along with the reform and development of rural economic system, the rural laborer shifts, the farmers' income level improves, and the stage of new fast development has been stepped in grain header production.China is in early days based on from national import and imitations such as the Soviet Union, the U.S. and Canada.A lot of connect or detailed calculating is not passed through at the supporting position, but make according to the size design of the already made grain header of developed country, make grain header bulky, quality is bigger than normal.Large-scale wheat grain header is unusual complicated mechanical equipment, and the use of large-scale grain header has very high requirement to the smooth and scale in soil, and important wheat belts such as the North China Plain that everybody knows, the Three River Plain are used combine production very early.Domestic a lot of universities and colleges all begin to attempt manufacturing and designing small-sized little wheat harvester now.These universities and colleges' designs are fit to the small harvester of local soil environment and productivity, and this grain header price is low, easy to maintenance, easy to use, are fit to various landform, and maintenance requires low.But this small-sized little wheat harvester, efficient is lower, often can not satisfy the needs of results in the extremely strong extensive harvest season in season.
Summary of the invention
Problem and defective at above-mentioned existing wheat grain header exists the present invention is based on wireless communication technology, by using many grain headers, transport vehicle work compound, cooperatively interact, and have reduced the operating personnel, have improved operating efficiency greatly.
The present invention is achieved by the following scheme, and a kind of wheat cropping system of multimachine device cooperation comprises: navigate little wheat harvester, some little wheat harvester, some wheat transport vehicles, wireless communication system and Breakdown Maintenance cars of following.Wherein, the little wheat harvester of described navigator is by pilot steering, and it is that the vehicle formation is navigated in getting wheat.Described several are followed the wheat grain header and are constituted the formation of certain formation together and follow navigator's grain header according to status information, control information and the adjacent machines people's of the pilot robot that receives status information and navigator's grain header and be synchronized with the movement.Described some wheat transport vehicles (its quantity is less than grain header quantity) are according to each grain header wheat harvesting amount, close grain header also is mated, load, transportation and unloading wheat, follow little wheat harvester and wheat transport vehicle and all follow driving automatically by the status information that receives and control information.All grain headers, transport vehicle all are connected by communication, exchange state information and control information.Described Breakdown Maintenance car is parked in the next door, warehouse, when any vehicle breaks down, is keeped in repair by pilot steering to fault place.Wireless communication module on each car intercoms mutually and has set up wireless communication system.
Described status information comprises: the position of grain header and transport vehicle, speed, wheel steering angle, wheat useful load information and the grain header adjacent with other or the distance of transport vehicle.
Described control information comprises: speed control information, corner control information, the information of falling back of advancing, loading and unloading information, formation information.
The present invention has the following advantages:
1, many machines, a people drives, and has saved human resources greatly, has saved labour cost; 2, avoided designing the complex process of single large-scale little wheat harvester, can some existing middle-size and small-size grain headers of simple refit, significantly reduced input; 3, multimachine cooperation makes harvesting efficiency significantly improve, and has huge meaning for getting the harvest in quickly farming season; 4, grain header cooperates with transport vehicle, has further reduced people's labour intensity, has certain practical value.
Description of drawings
Fig. 1 is the composition schematic diagram of multimachine device cooperation wheat cropping system.
Grain header system formation schematic diagram when Fig. 2 is grain header formation left-hand bend.
Grain header system formation schematic diagram when Fig. 3 is grain header formation right-hand bend.
Embodiment
Further describe below in conjunction with the drawings and the specific embodiments:
As Fig. 1, present embodiment comprises: navigate little wheat harvester, some little wheat harvester, some wheat transport vehicles, wireless communication system and Breakdown Maintenance cars of following.Wherein, the little wheat harvester of described navigator is by pilot steering, and it is that the vehicle formation is navigated in getting wheat.Several follow the wheat grain header according to status information, control information and the adjacent machines people's of the pilot robot that receives status information, and the formation that constitutes certain formation is followed navigator's grain header and is synchronized with the movement.Some wheat transport vehicles (its quantity generally is less than grain header quantity) are according to each grain header wheat harvesting amount, close grain header also is mated, load, transportation and unloading wheat, follow little wheat harvester and wheat transport vehicle and all follow driving automatically by the status information that receives and control information.All grain headers, transport vehicle all are connected by communication, exchange state information and control information.The Breakdown Maintenance car is parked in the next door, warehouse, is keeped in repair by pilot steering to fault place when any vehicle breaks down.Described status information comprises: the position of grain header and transport vehicle, speed, wheel steering angle, wheat useful load information and the grain header adjacent with other or range information, the faults itself information of transport vehicle.Described control information comprises: speed control information, corner control information, the information of falling back of advancing, loading and unloading information, formation information.
Before the grain header work, the driver selects the number of following grain header, transport vehicle of work according to the needs of getting wheat, at transport vehicle the warehouse location coordinate is set, and the initial formation of setting this multi-robot system at the control panel of pilot robot (has three kinds of optional formations: navigate in the middle of shown in Figure 1 in the formation storehouse, navigating in right side shown in Figure 2, navigates in left side shown in Figure 3).The selection of formation will be considered the influence of border to turning of wheatland, can not adopt middle navigator's mode if do not consider the influence on wheatland border, begin operation from the wheatland right side by the wheatland border if form into columns and to adopt right side navigator's mode, begin operation from the wheatland left side by the wheatland border if form into columns and to adopt left side navigator's mode (being that pilot robot is always travelled against the border), be convenient to like this drive and avoid cutting with Louing, and the harvesting of wheat during only turning just can guarantee wheatland continuously to same direction in the harvesting process.Each follows grain header and transport vehicle according to the formation order of pilot robot and near the status command of machine, drives automatically and adjusts the position to reach the setting formation.The formation of grain header is fixing formation, adjusts order next time and will keep initial formation before; The formation of transport vehicle is variable formation then, can change after being set at initial formation.After configuring formation, the driver begins to drive navigator's grain header, and navigator's grain header begins getting wheat, and the status information that the while, real-time demonstration was formed into columns on control panel is for driver's reference.Describedly follow the status information that grain header receives status information that himself each sensor measures, other machine that the wireless communication module transmission comes, carry out information fusion and processing, and send to navigator's grain header by wireless communication module, it also by the control command of wireless communication module reception from navigator's grain header, realizes accompany movement simultaneously.Navigator's grain header monitors the wheat useful load of each grain header constantly by wireless communication system, reached the value of regulation when the loading of the wheat of its harvesting of grain header of travelling wherein, then by wireless communication module this instruction is sent to pilot robot, show at navigator's grain header display, and by loudspeaker verbal cue driver, the driver is according to above-mentioned information, give an order, make the wheat useful load reach the grain header of value of regulation and near wheat transport vehicle is directly set up wireless link.Then, this grain header sends control command, and transport vehicle is driven to corresponding grain header afterbody automatically, travels synchronously with it, behind the lade, drives automatically and finishes unloading to the warehouse; If there is grain header more than three to reach the harvesting amount of regulation simultaneously, then whole grain header is formed into columns and need all be stopped, wait for the transport vehicle complete discharge after, can continue to travel.When a certain grain header breaks down, this grain header warning device sounds, and grain header is formed into columns and stopped to travel, and maintenance is waited in the original place at once; When transport vehicle breaks down and grain header does not break down, then this transport vehicle warning device sounds, and is parked in the original place and waits for maintenance, and grain header works on.More than can realize the wheat harvesting of wild environment.
According to above-mentioned description, the related work personnel can carry out various change and modification fully in the scope that does not depart from this invention technological thought.The technical scope of this invention is not limited to the content on the specification, all any modifications of making within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (1)
1. the wheat cropping system of multimachine device cooperation, it is characterized in that, comprise: navigate little wheat harvester, some little wheat harvester, some wheat transport vehicles, wireless communication system and Breakdown Maintenance cars of following, wherein, the little wheat harvester of described navigator is by pilot steering, and it is that the vehicle formation is navigated in getting wheat; Constitute the formation of certain formation together and follow navigator's grain header according to status information, control information and the adjacent machines people's of the pilot robot that receives status information and navigator's grain header and be synchronized with the movement if described several are followed the wheat grain header; Described some wheat transport vehicles (its quantity is less than grain header quantity) are according to the quantity of each harvesting, close grain header also is mated, load, transportation and unloading wheat, follow little wheat harvester and wheat transport vehicle and all follow driving automatically by the status information that receives and control information; Described all grain headers, transport vehicle all are connected by communication, exchange state information and control information; Described Breakdown Maintenance car is parked in the next door, warehouse, when any vehicle breaks down, is keeped in repair by pilot steering to fault place; Wireless communication module on each car intercoms mutually and has set up wireless communication system;
Described status information comprises: the position of grain header and transport vehicle, speed, wheel steering angle, wheat useful load information and the grain header adjacent with other or range information, the faults itself information of transport vehicle;
Described control information comprises: speed control information, corner control information, the information of falling back of advancing, loading and unloading information, formation information.
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| CN2013100772816A CN103181263A (en) | 2013-03-11 | 2013-03-11 | Multi-machine collaborated wheat harvest system |
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